Through the sitl simulation, the flight path is planned on the mission planner, but the UAV cannot unlock the flight, and the following errors always occur: Prearm:mode not Armable, please help me find a solution. I’m a novice. Thank you very much! 
Are you trying to arm in the Auto flight mode? The mode is not armable, you can only arm the motor in Stabilize, ACRO, AltHold, Loiter, and PosHold modes. Once armed, keep throttle down and switch to auto and raise throttle to start mission
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Thank you very much for your help, this problem has been resolved
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On 5/22/2020 08:47，Yasin via ArduPilot Discoursenoreply@ardupilot.org wrote：